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In this paper we give a new sufficient condition for master-slave synchronization of piecewise affine (PWA) systems. Using a Lyapunov approach and the so-called S-procedure, we show that the synchronization problem can be solved as an optimization problem subject to a set of linear matrix inequalities (LMIs) for which the slave state-feedback controller is designed efficiently. A mechanical system...
The paper develops a method for analyzing and improving by control obstacle clearance capacities of articulated multi-wheeled rovers. On uneven ground surface, load and traction force distributions through the wheel/ground contact system are highly coupled. They are both conditioned by the global equilibrium of the mechanical system and the contact stability constraints. The optimal traction force...
Trajectory optimization is a technique for finding dynamically feasible trajectories of a mechanical system that approximates a desired trajectory. These tools provide an excellent abstraction from a system's dynamics, allowing a user to animate a robot without considering dynamic complexities, including coupling, instability, and uncontrollable subspaces. The animator focuses on the more relevant...
In this paper we are studying the application of techniques to solve constraint satisfaction problems (CSP) for designing mechanical systems. After presenting the CSP method and the several ways to solve it, we introduce an optimization point of view for CSP. Then, we propose a quick overview of CSP application in product engineering. An example in mechanical system optimization is given via the case...
Design for maintenance is an important design methodology for the life cycle design of electromechanical products or systems. Based on the time-to-failure density function of the part, the reliability model of the mechanical system are developed and the system minimum reliability and steady reliability are defined for maintenance based on reliability simulation during the life cycle of the mechanical...
This paper presents the employment of the multiobjective H2/H∞ optimal controller based on the finite dimensional Q-parameterization and linear matrix inequalities to the realistic design example of the ACC benchmark system. This simple mechanical system captures many of the challenging robust control issues of more complex applications. As the simulation results show, the designed controller is able...
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